Index: mttroot/mtt/lib/control/PPP/ppp_ex11.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_ex11.m
+++ mttroot/mtt/lib/control/PPP/ppp_ex11.m
@@ -31,15 +31,15 @@
   A_u = ppp_aug(laguerre_matrix(3,2.0), A_w); # Input functions
 
   Q = ones(n_y,1);;
   
 
-  ## Constaints
+  ## Constraints
   Gamma = [];
   gamma = [];
 
-  ## Constaints - u
+  ## Constraints - u
   Tau_u = [0:0.5:2];
   one = ones(size(Tau_u));
   limit = 1.5;
   Min_u = -limit*one;
   Max_u =  limit*one;
@@ -74,32 +74,34 @@
   ## Unconstrained OL simulation
   disp("Computing unconstrained ol response");
   [uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]);
   [ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T);
 
-  title("Constained and unconstrained y*");
+  title("Constrained and unconstrained y*");
   xlabel("t");
   grid;
-  plot(T,ys,T,ysu)
+  figure(1);
+  plot(T,ys,"-;y*: constrained;", T,ysu, "--;y*: unconstrained;")
 
   ## Non-linear - closed-loop
     disp("Computing constrained closed-loop response");
   [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \
 			  Tau_u,Min_u,Max_u,Order_u, \
 			  Tau_y,Min_y,Max_y,Order_y,W,x_0);
 
-  title("y,y*,u and u*");
+  title("Constrained closed-loop response");
   xlabel("t");
   grid;
-  plot(T,y,T,u,T,ys,T,us);
+  figure(2);
+  plot(T,y,"-;y;", T,u,"--;u;");
 
-  ## Compute derivatives.
-  dt = t(2)-t(1);
-  du = diff(u)/dt;
-  dus = diff(us)/dt;
-  T1 = T(1:length(T)-1);
+#   ## Compute derivatives.
+#   dt = t(2)-t(1);
+#   du = diff(u)/dt;
+#   dus = diff(us)/dt;
+#   T1 = T(1:length(T)-1);
   ##plot(T1,du,T1,dus);
 endfunction
 
 
 
 

Index: mttroot/mtt/lib/control/PPP/ppp_ex12.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_ex12.m
+++ mttroot/mtt/lib/control/PPP/ppp_ex12.m
@@ -20,11 +20,11 @@
   B = [1 
        0 
        0];
   C = [0 -0.5  1];
   D = 0;
-  [n_x,n_u,n_y] = abcddim(A,B,C,D)
+  [n_x,n_u,n_y] = abcddim(A,B,C,D);
 
   ## Controller
   t = [4:0.02:5];		# Time horizon
   A_w = 0;			# Setpoint
   A_u = ppp_aug(laguerre_matrix(3,2.0), A_w); # Input functions
@@ -54,11 +54,11 @@
 			   [],[],[],[], W,x_0);
 
   title("y,y*,u and u*");
   xlabel("t");
   grid;
-  plot(T,y,T,u,T,ys,T,us);
+  plot(T,y,"1;y;", T,u,"2;u;", T,ys,"3;y*;", T,us,"4;u*;");
 
   ## Compute derivatives.
   dt = t(2)-t(1);
   du = diff(u)/dt;
   dus = diff(us)/dt;

Index: mttroot/mtt/lib/control/PPP/ppp_ex15.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_ex15.m
+++ mttroot/mtt/lib/control/PPP/ppp_ex15.m
@@ -40,22 +40,24 @@
 
   ## Closed-loop intermittent solution
   Delta_ol = 0.5		# Intermittent time
 
   disp("Intermittent control simulation");
-  [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \
+  [T,y,u] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \
 			  [],[],[],[], \
 			  [],[],[],[],W,x_0,Delta_ol);
-
+size(T)
   ## Exact closed-loop
   disp("Exact closed-loop");
-  [k_x,k_w] = ppp_lin (A,B,C,D,A_u,A_w,t,Q);
+  [k_x,k_w] = ppp_lin (A,B,C,D,A_u,A_w,t,Q)
   [ye,Xe] = ppp_sm2sr(A-B*k_x, B, C, D, T, k_w*W, x_0); # Compute Closed-loop control
-  ue = k_w*ones(size(T))*W - k_x*Xe';
+
+  ue = k_w*ones(size(T))*W - k_x*Xe;
 
 
   title("y and u, exact and intermittent");
   xlabel("t");
   grid;
-  plot(T,y,T,u,T,ye,T,ue);
+  plot(T,y,"1;y (intermittent);", T,u,"2;u (intermittent);",\
+       T,ye,"3;y (exact);", T,ue,"4;u (exact);");
 
 endfunction

Index: mttroot/mtt/lib/control/PPP/ppp_ex17.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_ex17.m
+++ mttroot/mtt/lib/control/PPP/ppp_ex17.m
@@ -71,22 +71,23 @@
   [ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T);
 
   title("Constained and unconstrained y*");
   xlabel("t");
   grid;
-  plot(T,ys,T,ysu)
+  figure(1);
+  plot(T,ys,"-;y* (constrained);", T,ysu,"--;y* (unconstrained);")
 
   ## Non-linear - closed-loop
-  delta_ol = 0.1;
+  delta_ol = 0.1; mu = 1e-4;
   [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \
 			  Tau_u,Min_u,Max_u,Order_u, \
-			  Tau_y,Min_y,Max_y,Order_y,W,x_0,delta_ol);
+			  Tau_y,Min_y,Max_y,Order_y,W,x_0,delta_ol,mu);
 
-  title("y,y*,u and u*");
+  title("y and u");
   xlabel("t");
   grid;
-  plot(T,y,T,u,T,ysu,T,usu);
+  plot(T,y,"1;y (constrained);", T,u,"2;u (constrained);");
 
 endfunction
 
 
 

Index: mttroot/mtt/lib/control/PPP/ppp_ex19.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_ex19.m
+++ mttroot/mtt/lib/control/PPP/ppp_ex19.m
@@ -81,22 +81,23 @@
   [ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T);
 
   title("Constrained and unconstrained y*");
   xlabel("t");
   grid;
-  plot(T,ys,T,ysu)
+  plot(T,ys,"-;y* (constrained);", T,ysu,"--;y* (unconstrained);");
 
   ## Non-linear - closed-loop
   disp("Closed-loop simulation");
   [T1,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \
 			   Tau_u,Min_u,Max_u,Order_u, \
 			   Tau_y,Min_y,Max_y,Order_y,W,x_0);
 
-  title("y,y*,u and u*");
+  title("y and u");
   xlabel("t");
   grid;
-  plot(T1,y,T,ys,T1,u,T,us);
+  plot(T,y,"1;y (constrained);", T,u,"2;u (constrained);");
+
 endfunction
 
 
 
 

Index: mttroot/mtt/lib/control/PPP/ppp_ex6.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_ex6.m
+++ mttroot/mtt/lib/control/PPP/ppp_ex6.m
@@ -36,20 +36,20 @@
   ## Simulation
   W=1;
   x_0 = 0;
 
   ## Linear
-  [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t);
+  ppp_lin_plot (A,B,C,D,A_u,A_w,t);
   
   ## Non-linear
   movie = 0;
   [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, Tau,Min,Max,Order, \
 	      [],[],[],[], W,x_0);
   title("y,u_1,u_2");
   xlabel("t");
   grid;
-  plot(T,y,T,u);
+  plot(T,y,"-;y;", T,u(1,:),"--;u_1;", T,u(2,:),".-;u_2;");
 
 endfunction
 
 
 

Index: mttroot/mtt/lib/control/PPP/ppp_lin_plot.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_lin_plot.m
+++ mttroot/mtt/lib/control/PPP/ppp_lin_plot.m
@@ -1,8 +1,8 @@
 function [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w,cond_uu] =  ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W,x_0)
 
-  ## usage:   [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W,x_0)
+  ## usage:   [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w,cond_uu] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W,x_0)
   ##
   ## Linear PPP (Predictive pole-placement) computation with plotting
   ## INPUTS:
   ## A,B,C,D: system matrices
   ## A_u: composite system matrix for U* generation 
@@ -38,11 +38,11 @@
 
   [n_t,m_t] = size(t);
 
   ## Default Q
   if nargin<8
-    Q = ones(n_y,1);
+    Q = ones(n_y,1)
   endif
 
   ## Default W
   if nargin<9
     W = ones(n_W,1)

Index: mttroot/mtt/lib/control/PPP/ppp_qp.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_qp.m
+++ mttroot/mtt/lib/control/PPP/ppp_qp.m
@@ -45,10 +45,11 @@
     ##U = qp(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
     ##U = pd_lcp04(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
     u = Us0*U;			# Control signal
   else			# Do the unconstrained solution
     ## Compute the open-loop gains
+    iterations = 0;
     K_w = J_uu\J_uw;
     K_x = J_uu\J_ux;
 
     ## Closed-loop control
     U = K_w*W - K_x*x;		# Basis functions weights - U(t)

Index: mttroot/mtt/lib/control/PPP/ppp_qp_sim.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_qp_sim.m
+++ mttroot/mtt/lib/control/PPP/ppp_qp_sim.m
@@ -45,11 +45,11 @@
   ## Composite constraints - t=0
   Gamma = [Gamma_u; Gamma_y];
   gamma = [gamma_u; gamma_y];
 
   ## Design the controller
-  disp("Designing controller");
+  ## disp("Designing controller");
   [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] = ppp_lin (A,B,C,D,A_u,A_w,t,Q);
 
   ## Set up various time vectors
   dt = t(2)-t(1);		# Time increment
 
@@ -85,11 +85,11 @@
   Iterations = [];
   du = [];
   J = [];
   tick= time;
   i = 0;
-  disp("Simulating ...");
+  ## disp("Simulating ...");
   for t=T_cl			# Outer loop at Delta_ol
     ##disp(sprintf("Time %g", t));
     ## Output constraints
     [Gamma_y,gamma_y] = ppp_output_constraint  (A,B,C,D,x,A_u,Tau_y,Min_y,Max_y,Order_y);
     
@@ -122,14 +122,14 @@
   X = [X x];		# Save state
   u = [u ut];		# Save input
   Iterations = [Iterations iterations]; # Save iteration count
 
   tock = time;
-  Elapsed_Time = tock-tick
+  Elapsed_Time = tock-tick;
   y = C*X + D*u;		# System output
 
   T = 0:dt:t+Delta_ol;		# Overall time vector
 
 endfunction